Schemat:
Kod:
[syntax=c] #include <avr/io.h>
#include <util/delay.h>
//silnik 1 - wejscia
#define AIN1_1 PB3
#define AIN2_1 PB0
#define BIN1_1 PB1
#define BIN2_1 PB2
//silnik 2 - wejscia
#define AIN1_2 PC5
#define AIN2_2 PC4
#define BIN1_2 PC6
#define BIN2_2 PC7
//silniki - pwm
#define PWM_A1 PD4
#define PWM_B1 PD3
#define PWM_A2 PD5
#define PWM_B2 PD6
#define PRAWY_TYL PORTB |= (1<<AIN2_1); //PORTD |= (1<<PWM_A1);
#define PRAWY_PRZOD PORTB |= (1<<AIN1_1);// PORTD |= (1<<PWM_A1);
#define PRAWY_STOP PORTB &= ~(1<<AIN2_1); //PORTD &= ~(1<<PWM_A1)
#define LEWY_PRZOD PORTC |= (1<<AIN1_2);// PORTD |= (1<<PWM_A2);
#define LEWY_TYL PORTC |= (1<<AIN2_2); //PORTD |= (1<<PWM_A2);
#define LEWY_STOP PORTC &= ~(1<<AIN2_2); //PORTD &= ~(1<<PWM_A2);
int main(void) {
DDRB |= (1<<AIN1_1) | (1<<AIN2_1) | (1<<BIN1_1) | (1<<BIN2_1);
DDRC |= (1<<AIN1_2) | (1<<AIN2_2) | (1<<BIN1_2) | (1<<BIN2_2);
DDRD |= (1<<PWM_A1) | (1<<PWM_A2) | (1<<PWM_B1) | (1<<PWM_B2) | (1<<PD7);
TCCR1A |= (1<<WGM10); //PWM z korekcja fazy
TCCR1A |= (1<<COM01) | (1<<COM00);
TCCR1A |= (1<<CS10); //preskaler 1
TIMSK |= (1<<OCIE2);
LEWY_PRZOD;
OCR1A = 150;
OCR1B = 150;
_delay_ms(1000);
while(1){}
}[/syntax]
Panowie, Panowie - znaczniki [ syntax = c ] stosujemy a nie [ code ]
Statystyki: Napisane przez ps19 — 11 cze 2012, o 19:15
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